Inverse Kinematics (IK) problem is defined as the problem of determining a set of appropriate joint configurations for which the end effectors move to desired positions as smoothly, rapidly, and as accurately as possible. A few of the iterative methods that solve tries to solve the problem have been described here. Further, we have prepared a MATLAB code that uses one of the methods. We have also simulated the working of the methods in Unity Engine to help better visualize it.
https://pushpendra.itch.io/robot-arm
| File names | Function of those files: |
|---|---|
| end_pos.m | Calculates the position of the end effector using angles between the arms. |
| Jacobian.m | Consists of the function which calculates the Jacobian of the robotic system |
| Jacobian_Convergence.m | Calculates the position of end effector at each iteration of the transpose method and displays the converging and diverging case. |
| make_smatrix.m | Converts linear path into n sub intervals and returns all the target points. |
| mid_pos.m | Calculates the position of the mid joint. |
| theta_Calculation.m | Calculates set of joint angles for the target position of end effector. |
| Path_tracking.m | Main file that calculates and combines all the base functions and performs simulation of the results |